Transforming Wheel Robot

I finally got it to work! (video is up) 

The transforming wheel that I made and talked about a while back- I made a robot that can use and actuate them. The wheel is smooth for going over carpet, cement, and other indoor surfaces, and can transform to spiky for crossing mulch, sand, and other outdoor surfaces. The spikes for the spiky wheel are interchangeable for different surfaces.

The wheels are transformed using a laser cut acrylic rack and pinion system, and the rest of the parts are all 3D printed.

I also used this tutorial to make an Android app to control my Arduino, which worked great: https://www.youtube.com/watch?v=6o_QVlltNgM